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   ],
   "source": [
    "from kalmanfilter import KalmanFilter\n",
    "from datapoint import DataPoint\n",
    "from fusionekf import FusionEKF\n",
    "from tools import get_RMSE, cartesian_to_polar\n",
    "from helpers import parse_data, get_state_estimations, print_EKF_data\n",
    "import numpy as np\n",
    "\n",
    "from bokeh.io import output_notebook, show\n",
    "from bokeh.plotting import figure\n",
    "from bokeh.models import HoverTool\n",
    "from bokeh.models import ColumnDataSource\n",
    "output_notebook()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "lidar_R = np.matrix([[0.0225, 0], \n",
    "                     [0, 0.0225]])\n",
    "\n",
    "radar_R = np.matrix([[0.09, 0, 0], \n",
    "                     [0, 0.0009, 0], \n",
    "                     [0, 0, 0.09]])\n",
    "\n",
    "lidar_H = np.matrix([[1, 0, 0, 0],\n",
    "                     [0, 1, 0, 0]])\n",
    "\n",
    "P = np.matrix([[1, 0, 0, 0],\n",
    "               [0, 1, 0, 0],\n",
    "               [0, 0, 1000, 0], \n",
    "               [0, 0, 0, 1000]])\n",
    "\n",
    "Q = np.matrix(np.zeros([4, 4]))\n",
    "F = np.matrix(np.eye(4))\n",
    "\n",
    "d = {\n",
    "  'number_of_states': 4, \n",
    "  'initial_process_matrix': P,\n",
    "  'radar_covariance_matrix': radar_R,\n",
    "  'lidar_covariance_matrix': lidar_R, \n",
    "  'lidar_transition_matrix': lidar_H,\n",
    "  'inital_state_transition_matrix': F,\n",
    "  'initial_noise_matrix': Q, \n",
    "  'acceleration_noise_x': 5, \n",
    "  'acceleration_noise_y': 5\n",
    "}\n",
    "\n",
    "EKF = FusionEKF(d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "all_sensor_data, all_ground_truths = parse_data(\"data/data-1.txt\")\n",
    "all_state_estimations = get_state_estimations(EKF, all_sensor_data)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "lidar_xs, lidar_ys = [], []\n",
    "radar_xs, radar_ys, radar_angles = [], [], []\n",
    "truth_xs, truth_ys, truth_angles = [], [], []\n",
    "state_xs, state_ys, state_angles = [], [], []\n",
    "    \n",
    "for s, t, p in zip(all_sensor_data, all_ground_truths, all_state_estimations):\n",
    "    \n",
    "  if s.get_name() == \"lidar\":\n",
    "    x, y = s.get_raw()\n",
    "    lidar_xs.append(x)\n",
    "    lidar_ys.append(y)\n",
    "  else:\n",
    "    x, y, vx, vy = s.get()\n",
    "    angle = np.arctan2(vy, vx)\n",
    "    radar_xs.append(x)\n",
    "    radar_ys.append(y)\n",
    "    radar_angles.append(angle)\n",
    "\n",
    "  x, y, vx, vy = t.get()\n",
    "  t_angle =  np.arctan2(vy, vy)\n",
    "  truth_xs.append(x)\n",
    "  truth_ys.append(y)\n",
    "  truth_angles.append(t_angle)\n",
    "\n",
    "  x, y, vx, vy = p.get()\n",
    "  p_angle =  np.arctan2(vy, vx)\n",
    "  state_xs.append(x)\n",
    "  state_ys.append(y)\n",
    "  state_angles.append(p_angle)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
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    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "radar_source = ColumnDataSource(data = {\n",
    "    'x' : radar_xs,\n",
    "    'y' : radar_ys,\n",
    "    'angle': radar_angles, \n",
    "})\n",
    "\n",
    "truth_source = ColumnDataSource(data = {\n",
    "    'x' : truth_xs,\n",
    "    'y' : truth_ys,\n",
    "    'angle': truth_angles, \n",
    "})\n",
    "\n",
    "state_source = ColumnDataSource(data = {\n",
    "    'x' : state_xs,\n",
    "    'y' : state_ys,\n",
    "    'angle': truth_angles, \n",
    "})\n",
    "\n",
    "lidar_source = ColumnDataSource(data = {\n",
    "    'x' : lidar_xs,\n",
    "    'y' : lidar_ys,\n",
    "})\n",
    "\n",
    "\n",
    "hover = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n"
   ]
  },
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   "execution_count": 6,
   "metadata": {
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    "deletable": true,
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measured velocity direction\"},\"renderers\":[{\"id\":\"51411cda-1191-44ff-99be-61aa8ebe5d85\",\"type\":\"GlyphRenderer\"}]},\"id\":\"f8142858-abaa-49e8-bfd6-6ab00271e20f\",\"type\":\"LegendItem\"},{\"attributes\":{},\"id\":\"b155d0ac-22c1-4fe0-9689-dd5982747351\",\"type\":\"BasicTickFormatter\"},{\"attributes\":{\"plot\":null,\"text\":\"\"},\"id\":\"2c94014b-fc42-4df8-b1f5-69477113ea2b\",\"type\":\"Title\"},{\"attributes\":{},\"id\":\"4db7cc61-6bd1-4914-baa8-0fc3d3f3ecab\",\"type\":\"BasicTickFormatter\"},{\"attributes\":{\"items\":[{\"id\":\"dafd878d-63f1-4a47-a20d-9c997e563934\",\"type\":\"LegendItem\"},{\"id\":\"f8142858-abaa-49e8-bfd6-6ab00271e20f\",\"type\":\"LegendItem\"}],\"location\":\"bottom_right\",\"plot\":{\"id\":\"05552dbe-6150-42a5-b95a-9bfa6566bd3a\",\"subtype\":\"Figure\",\"type\":\"Plot\"}},\"id\":\"a7d80abb-bc59-4cac-ba3b-1ac58df6b82f\",\"type\":\"Legend\"},{\"attributes\":{},\"id\":\"9d6d392e-a1a2-478b-8249-a8a939a8ac81\",\"type\":\"BasicTicker\"},{\"attributes\":{\"callback\":null},\"id\":\"e00946ee-4e4d-4f91-b6ad-e81b236904b3\",\"type\":\"DataRange1d\"},{\"attributes\":{\"callback\":null,\"plot\":{\"id\":\"05552dbe-6150-42a5-b95a-9bfa6566bd3a\",\"subtype\":\"Figure\",\"type\":\"Plot\"},\"tooltips\":[[\"index\",\"$index\"],[\"x 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       "            var render_items = [{\"docid\":\"a639665b-bf60-41dd-9c10-47da94971f9f\",\"elementid\":\"68f8fa36-6f21-425a-ac70-2b8b66c46f6c\",\"modelid\":\"05552dbe-6150-42a5-b95a-9bfa6566bd3a\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
       "      },\n",
       "      function(Bokeh) {\n",
       "      }\n",
       "    ];\n",
       "  \n",
       "    function run_inline_js() {\n",
       "      \n",
       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "        for (var i = 0; i < inline_js.length; i++) {\n",
       "          inline_js[i](window.Bokeh);\n",
       "        }if (force === true) {\n",
       "          display_loaded();\n",
       "        }} else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
       "      } else if (force !== true) {\n",
       "        var cell = $(document.getElementById(\"68f8fa36-6f21-425a-ac70-2b8b66c46f6c\")).parents('.cell').data().cell;\n",
       "        cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
       "      }\n",
       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "###################################################################\n",
    "#  RADAR MEASUREMENTS WITH ORIENTATION\n",
    "###################################################################\n",
    "\n",
    "hover2 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover2])\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 10, \n",
    "  fill_color = \"firebrick\",\n",
    "  line_color = \"orange\",\n",
    "  fill_alpha = 0.2,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"radar measurements\", \n",
    "  source = radar_source)\n",
    "\n",
    "\n",
    "p.cross(\n",
    "  'x', 'y', size = 5, \n",
    "  line_color = \"grey\",\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"radar measured velocity direction\",\n",
    "  source = radar_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false,
    "deletable": true,
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       "\n",
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       "    <div class=\"bk-root\">\n",
       "        <div class=\"bk-plotdiv\" id=\"6ea1d1d7-0b13-494c-b0a7-45259ec0b1a9\"></div>\n",
       "    </div>\n",
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       "  \n",
       "  (function(global) {\n",
       "    function now() {\n",
       "      return new Date();\n",
       "    }\n",
       "  \n",
       "    var force = false;\n",
       "  \n",
       "    if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
       "      window._bokeh_onload_callbacks = [];\n",
       "      window._bokeh_is_loading = undefined;\n",
       "    }\n",
       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
       "  \n",
       "    function display_loaded() {\n",
       "      if (window.Bokeh !== undefined) {\n",
       "        document.getElementById(\"6ea1d1d7-0b13-494c-b0a7-45259ec0b1a9\").textContent = \"BokehJS successfully loaded.\";\n",
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       "    function load_libs(js_urls, callback) {\n",
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       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
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       "          if (window._bokeh_is_loading === 0) {\n",
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       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
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       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
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       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '6ea1d1d7-0b13-494c-b0a7-45259ec0b1a9' but no matching script tag was found. \")\n",
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       "            var render_items = [{\"docid\":\"29f6c1cb-647e-46e5-b135-80c65a9fc492\",\"elementid\":\"6ea1d1d7-0b13-494c-b0a7-45259ec0b1a9\",\"modelid\":\"8492539c-3489-46a4-9af3-dfd4ea4a60f4\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
       "      },\n",
       "      function(Bokeh) {\n",
       "      }\n",
       "    ];\n",
       "  \n",
       "    function run_inline_js() {\n",
       "      \n",
       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "        for (var i = 0; i < inline_js.length; i++) {\n",
       "          inline_js[i](window.Bokeh);\n",
       "        }if (force === true) {\n",
       "          display_loaded();\n",
       "        }} else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
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       "        var cell = $(document.getElementById(\"6ea1d1d7-0b13-494c-b0a7-45259ec0b1a9\")).parents('.cell').data().cell;\n",
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       "  \n",
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       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
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     "metadata": {},
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   ],
   "source": [
    "###################################################################\n",
    "#  LIDAR MEASUREMENTS\n",
    "###################################################################\n",
    "\n",
    "hover3 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover3])\n",
    "\n",
    "p.circle(\n",
    "  'x', 'y', size = 10, \n",
    "  fill_color = \"navy\",\n",
    "  line_color = \"teal\",\n",
    "  fill_alpha = 0.2,\n",
    "  line_width = 1, \n",
    "  legend = \"lidar measurements\", \n",
    "  source = lidar_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "\n",
       "    <div class=\"bk-root\">\n",
       "        <div class=\"bk-plotdiv\" id=\"10ec8c66-97f5-42a2-b7e6-ed40f5596a7d\"></div>\n",
       "    </div>\n",
       "<script type=\"text/javascript\">\n",
       "  \n",
       "  (function(global) {\n",
       "    function now() {\n",
       "      return new Date();\n",
       "    }\n",
       "  \n",
       "    var force = false;\n",
       "  \n",
       "    if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
       "      window._bokeh_onload_callbacks = [];\n",
       "      window._bokeh_is_loading = undefined;\n",
       "    }\n",
       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
       "  \n",
       "    function display_loaded() {\n",
       "      if (window.Bokeh !== undefined) {\n",
       "        document.getElementById(\"10ec8c66-97f5-42a2-b7e6-ed40f5596a7d\").textContent = \"BokehJS successfully loaded.\";\n",
       "      } else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(display_loaded, 100)\n",
       "      }\n",
       "    }\n",
       "  \n",
       "    function run_callbacks() {\n",
       "      window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "      delete window._bokeh_onload_callbacks\n",
       "      console.info(\"Bokeh: all callbacks have finished\");\n",
       "    }\n",
       "  \n",
       "    function load_libs(js_urls, callback) {\n",
       "      window._bokeh_onload_callbacks.push(callback);\n",
       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "        return null;\n",
       "      }\n",
       "      if (js_urls == null || js_urls.length === 0) {\n",
       "        run_callbacks();\n",
       "        return null;\n",
       "      }\n",
       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
       "        var url = js_urls[i];\n",
       "        var s = document.createElement('script');\n",
       "        s.src = url;\n",
       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
       "          }\n",
       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "      }\n",
       "    };var element = document.getElementById(\"10ec8c66-97f5-42a2-b7e6-ed40f5596a7d\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '10ec8c66-97f5-42a2-b7e6-ed40f5596a7d' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
       "            var docs_json = 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:{\"id\":\"e23d5895-661c-4b40-bc16-f0efc112bd00\",\"type\":\"BasicTickFormatter\"},\"plot\":{\"id\":\"06d45be1-fb7a-4dce-8cab-a8e8b54d7b06\",\"subtype\":\"Figure\",\"type\":\"Plot\"},\"ticker\":{\"id\":\"ac178e6d-b12b-4f8a-847e-7cd79d3b25eb\",\"type\":\"BasicTicker\"}},\"id\":\"31fe8873-2248-4e5f-b93c-86e4c39e3f42\",\"type\":\"LinearAxis\"},{\"attributes\":{\"dimension\":1,\"plot\":{\"id\":\"06d45be1-fb7a-4dce-8cab-a8e8b54d7b06\",\"subtype\":\"Figure\",\"type\":\"Plot\"},\"ticker\":{\"id\":\"e020f5ce-3cfe-435e-9f29-9583e6951d50\",\"type\":\"BasicTicker\"}},\"id\":\"89548154-16b8-4b05-854e-2fc37d59555f\",\"type\":\"Grid\"},{\"attributes\":{\"label\":{\"value\":\"ground 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       "            var render_items = [{\"docid\":\"8bf196c5-9cfd-45cd-96f9-852d0f9047b1\",\"elementid\":\"10ec8c66-97f5-42a2-b7e6-ed40f5596a7d\",\"modelid\":\"06d45be1-fb7a-4dce-8cab-a8e8b54d7b06\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
       "      },\n",
       "      function(Bokeh) {\n",
       "      }\n",
       "    ];\n",
       "  \n",
       "    function run_inline_js() {\n",
       "      \n",
       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
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       "          inline_js[i](window.Bokeh);\n",
       "        }if (force === true) {\n",
       "          display_loaded();\n",
       "        }} else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
       "      } else if (force !== true) {\n",
       "        var cell = $(document.getElementById(\"10ec8c66-97f5-42a2-b7e6-ed40f5596a7d\")).parents('.cell').data().cell;\n",
       "        cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
       "      }\n",
       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "###################################################################\n",
    "#  GROUND TRUTH WITH ORIENTATION\n",
    "###################################################################\n",
    "\n",
    "hover4 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover4])\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 15, \n",
    "  fill_color = \"red\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.2,\n",
    "  angle = 'angle', \n",
    "  line_width = 1,\n",
    "  legend = \"ground truth\",\n",
    "  source = truth_source)\n",
    "\n",
    "\n",
    "p.cross(\n",
    "  'x', 'y', size = 5, \n",
    "  line_color = \"grey\",\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"velocity direction\", \n",
    "  source = truth_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "\n",
       "    <div class=\"bk-root\">\n",
       "        <div class=\"bk-plotdiv\" id=\"b218deef-608b-4212-b5c0-462715ee5b7a\"></div>\n",
       "    </div>\n",
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       "  \n",
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       "  \n",
       "    var force = false;\n",
       "  \n",
       "    if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
       "      window._bokeh_onload_callbacks = [];\n",
       "      window._bokeh_is_loading = undefined;\n",
       "    }\n",
       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
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       "  \n",
       "    function run_callbacks() {\n",
       "      window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "      delete window._bokeh_onload_callbacks\n",
       "      console.info(\"Bokeh: all callbacks have finished\");\n",
       "    }\n",
       "  \n",
       "    function load_libs(js_urls, callback) {\n",
       "      window._bokeh_onload_callbacks.push(callback);\n",
       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "        return null;\n",
       "      }\n",
       "      if (js_urls == null || js_urls.length === 0) {\n",
       "        run_callbacks();\n",
       "        return null;\n",
       "      }\n",
       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
       "        var url = js_urls[i];\n",
       "        var s = document.createElement('script');\n",
       "        s.src = url;\n",
       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
       "          }\n",
       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "      }\n",
       "    };var element = document.getElementById(\"b218deef-608b-4212-b5c0-462715ee5b7a\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid 'b218deef-608b-4212-b5c0-462715ee5b7a' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
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       "            var render_items = [{\"docid\":\"6a99a45c-b083-47fd-a41a-e6865c55b8e3\",\"elementid\":\"b218deef-608b-4212-b5c0-462715ee5b7a\",\"modelid\":\"470a5499-fd3b-4f7e-b74a-e60be48cb3e2\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
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       "      function(Bokeh) {\n",
       "      }\n",
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       "  \n",
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       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
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       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
       "      } else if (force !== true) {\n",
       "        var cell = $(document.getElementById(\"b218deef-608b-4212-b5c0-462715ee5b7a\")).parents('.cell').data().cell;\n",
       "        cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
       "      }\n",
       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "###################################################################\n",
    "#  STATE WITH ORIENTATION\n",
    "###################################################################\n",
    "\n",
    "hover5 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover5])\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 20, \n",
    "  fill_color = \"teal\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.2,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"state prediction: location\", \n",
    "  source = state_source)\n",
    "\n",
    "\n",
    "p.x(\n",
    "  'x', 'y', size = 5, \n",
    "  line_color = \"grey\",\n",
    "  angle = 'angle', \n",
    "  line_width = 1,\n",
    "  legend = \"state prediction: velocity directions\",\n",
    "  source = state_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "data": {
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       "    <div class=\"bk-root\">\n",
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       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
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       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
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       "  \n",
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       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
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       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
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       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
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       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
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       "    };var element = document.getElementById(\"6d5bdaf3-0172-4a77-92c2-edfe19a192b0\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '6d5bdaf3-0172-4a77-92c2-edfe19a192b0' but no matching script tag was found. \")\n",
       "      return false;\n",
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       "  \n",
       "    var js_urls = [];\n",
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       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "hover6 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover6])\n",
    "\n",
    "p.square(\n",
    "  'x', 'y', size = 3, \n",
    "  fill_color = \"orange\",\n",
    "  line_color = \"orange\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"radar measurements\", \n",
    "  source = radar_source)\n",
    "\n",
    "p.circle(\n",
    "  'x', 'y', size = 15, \n",
    "  fill_color = \"green\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.2,\n",
    "  line_width = 1, \n",
    "  legend = \"lidar measurements\", \n",
    "  source = lidar_source)\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 7, \n",
    "  fill_color = \"violet\",\n",
    "  line_color = \"violet\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 0.5, \n",
    "  legend = \"ground truth\",\n",
    "  source = truth_source)\n",
    "\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 2, \n",
    "  fill_color = \"black\",\n",
    "  line_color = \"black\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"state predictions\", \n",
    "  source = state_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "\n",
       "    <div class=\"bk-root\">\n",
       "        <div class=\"bk-plotdiv\" id=\"8e8f344b-096d-4d31-93e0-05573ba964dc\"></div>\n",
       "    </div>\n",
       "<script type=\"text/javascript\">\n",
       "  \n",
       "  (function(global) {\n",
       "    function now() {\n",
       "      return new Date();\n",
       "    }\n",
       "  \n",
       "    var force = false;\n",
       "  \n",
       "    if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
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       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
       "  \n",
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       "      delete window._bokeh_onload_callbacks\n",
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       "    }\n",
       "  \n",
       "    function load_libs(js_urls, callback) {\n",
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       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
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       "      if (js_urls == null || js_urls.length === 0) {\n",
       "        run_callbacks();\n",
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       "      }\n",
       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
       "        var url = js_urls[i];\n",
       "        var s = document.createElement('script');\n",
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       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
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       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "      }\n",
       "    };var element = document.getElementById(\"8e8f344b-096d-4d31-93e0-05573ba964dc\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '8e8f344b-096d-4d31-93e0-05573ba964dc' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
       "            var docs_json = {\"0b580122-7ee8-4646-96ac-908b4d555d7a\":{\"roots\":{\"references\":[{\"attributes\":{},\"id\":\"ef88790f-7bed-484f-a6f5-e9af0e47f9db\",\"type\":\"BasicTickFormatter\"},{\"attributes\":{\"plot\":{\"id\":\"4a88f23d-b85a-44fb-871f-5c08c2ac5ec0\",\"subtype\":\"Figure\",\"type\":\"Plot\"},\"ticker\":{\"id\":\"2ec65fdd-91e0-43bf-a9af-1b7fddb915f0\",\"type\":\"BasicTicker\"}},\"id\":\"5831224f-7464-4171-a53d-13e165b206f8\",\"type\":\"Grid\"},{\"attributes\":{\"plot\":null,\"text\":\"\"},\"id\":\"2a8d3373-b739-4823-bde8-8b3eaf4a6f83\",\"type\":\"Title\"},{\"attributes\":{\"line_alpha\":{\"value\":0.1},\"line_color\":{\"value\":\"#1f77b4\"},\"line_dash\":[4,4],\"x\":{\"field\":\"x\"},\"y\":{\"field\":\"y\"}},\"id\":\"cfbf4e4d-cc65-43be-afa9-634993ca75a0\",\"type\":\"Line\"},{\"attributes\":{\"callback\":null,\"plot\":{\"id\":\"4a88f23d-b85a-44fb-871f-5c08c2ac5ec0\",\"subtype\":\"Figure\",\"type\":\"Plot\"},\"tooltips\":[[\"index\",\"$index\"],[\"x , y\",\"$x, $y\"],[\"angle 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       "            var render_items = [{\"docid\":\"0b580122-7ee8-4646-96ac-908b4d555d7a\",\"elementid\":\"8e8f344b-096d-4d31-93e0-05573ba964dc\",\"modelid\":\"4a88f23d-b85a-44fb-871f-5c08c2ac5ec0\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
       "      },\n",
       "      function(Bokeh) {\n",
       "      }\n",
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       "  \n",
       "    function run_inline_js() {\n",
       "      \n",
       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "        for (var i = 0; i < inline_js.length; i++) {\n",
       "          inline_js[i](window.Bokeh);\n",
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       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
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       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
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   ],
   "source": [
    "hover7 = HoverTool( tooltips = [\n",
    "            (\"index\", \"$index\"),\n",
    "            (\"x , y\", \"$x, $y\"),\n",
    "            (\"angle radians\", \"@angle\")])\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 700, tools = [hover7])\n",
    "\n",
    "p.square(\n",
    "  'x', 'y', size = 3, \n",
    "  fill_color = \"violet\",\n",
    "  line_color = \"violet\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"radar measurements\", \n",
    "  source = radar_source)\n",
    "\n",
    "p.circle(\n",
    "  'x', 'y', size = 10, \n",
    "  fill_color = \"green\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.4,\n",
    "  line_width = 1, \n",
    "  legend = \"lidar measurements\", \n",
    "  source = lidar_source)\n",
    "\n",
    "p.line(state_xs, state_ys, line_width = 2, color='orange', legend = \"state predictions\")\n",
    "p.line(truth_xs, truth_ys, line_dash = \"4 4\", line_width = 1, color='navy', legend = \"ground truth\")\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "show(p)"
   ]
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